Storage systems and methods

ABSTRACT

A storage system is described where goods are stored in containers and the containers are stored in stacks. Above the stacks runs a grid network of tracks on which load handling devices run. The load handling devices take containers from the stacks and deposit then at alternative locations in the stacks or deposit then at stations where goods may be picked out. The framework may be provided with one or more of the following services: power, power control, heating, lighting, cooling, sensing, and data logging. The provision of these services within the framework rather than across the system as a whole, allows for flexibility in storage whilst reducing cost and inefficiency.

The present invention relates to storage systems. More specifically butnot exclusively, it relates to storage systems having storage bins instacks, the stacks being located with a grid structure.

This application claims priority from UK Patent Application Nos.GB1506365.4 filed 15 Apr. 2015, GB1514428.0 filed 13 Aug. 2015,GB1518089.6 filed 13 Oct. 2015, GB1602332.7 filed 9 Feb. 2016,GB1518091.2 filed 13 Oct. 2015, GB1518094.6 filed 13 Oct. 2015,GB1518111.8 filed 13 Oct. 2015, GB1518115.9 filed 13 Oct. 2015,GB1518117.5 filed 13 Oct. 2015 and GB1603328.4 filed 25 Feb. 2016 thecontent of all these applications hereby being incorporated byreference.

Some commercial and industrial activities require systems that enablethe storage and retrieval of a large number of different products. Oneknown type of system for the storage and retrieval of items in multipleproduct lines involves arranging storage bins or containers in stacks ontop of one another, the stacks being arranged in rows. The storage binsor containers are accessed from above by load handling devices, removingthe need for aisles between the rows and allowing more containers to bestored in a given space.

Methods of handling containers stacked in rows have been well known fordecades. In some such systems, for example as described in U.S. Pat. No.2,701,065, to Bertel comprise free-standing stacks of containersarranged in rows in order to reduce the storage volume associated withstoring such containers but yet still providing access to a specificcontainer if required. Access to a given container is made possible byproviding relatively complicated hoisting mechanisms which can be usedto stack and remove given containers from stacks. The cost of suchsystems are, however, impractical in many situations and they havemainly been commercialised for the storage and handling of largeshipping containers.

The concept of using freestanding stacks of containers and providing amechanism to retrieve and store specific containers has been developedfurther, for example as described in EP 0 767 113 B to Cimcorp. '113discloses a mechanism for removing a plurality of stacked containers,using a robotic load handler in the form of a rectangular tube which islowered around the stack of containers, and which is configured to beable to grip a container at any level in the stack. In this way, severalcontainers can be lifted at once from a stack. The movable tube can beused to move several containers from the top of one stack to the top ofanother stack, or to move containers from a stack to an externallocation and vice versa. Such systems can be particularly useful whereall of the containers in a single stack contain the same product (knownas a single-product stack).

In the system described in '113, the height of the tube has to be asleast as high as the height of the largest stack of containers, so thatthat the highest stack of containers can be extracted in a singleoperation. Accordingly, when used in an enclosed space such as awarehouse, the maximum height of the stacks is restricted by the need toaccommodate the tube of the load handler.

EP 1037828 B1 (Autostore) the contents of which are incorporated hereinby reference, describes a system in which stacks of containers arearranged within a frame structure. A system of this type is illustratedschematically in FIGS. 1 to 4 of the accompanying drawings. Robotic loadhandling devices can be controllably moved around the stack on a systemof tracks on the upper most surface of the stack.

Other forms of robotic load handling device are further described in,for example, Norwegian patent number 317366, the contents of which areincorporated herein by reference. FIGS. 3(a) and 3(b) are schematicperspective views of a load handling device from the rear and front,respectively, and FIG. 3(c) is a schematic front perspective view of aload handling device lifting a bin.

A further development of load handling device is described in UK PatentApplication No. GB1314313.6 Ocado Innovation Limited where each roboticload handler only covers one grid space, thus allowing higher density ofload handlers and thus higher throughput of a given size system.However, any suitable form of load handling device may be used.

In such known storage systems a large number of bins are stackeddensely. The contents of the bins may degrade, may require lighting,heating or cooling, or may need some form of monitoring or control notcurrently provided by known systems.

According to the invention there is provided a storage systemcomprising: a first set of parallel rails or tracks and a second set ofparallel rails or tracks extending transverse to the first set in asubstantially horizontal plane to form a grid pattern comprising aplurality of grid spaces; a set of uprights, the uprights and trackstogether defining a framework; a plurality of storage containersarranged in stacks, located beneath the rails and within the framework;at least one load handling device disposed on the grid, arranged to movelaterally above the stacks on the rails, the load handling devicecomprising a lifting device arranged to lift one or more containers, orparts thereof, from a stack; wherein the framework comprises servicemeans for providing services to the storage system enabling interaction,control and monitoring of the system from within the framework.

According to the invention there is further provided a method ofcondition monitoring a storage system comprising the steps of: providingsensor means and data logging and storage means within the framework;providing communication means to communicate data logged to a centraldata logging device; and monitoring the data received.

Advantageously, in accordance with one form of the invention, theuprights of the frame structure carry services such as power, watersupply, data communications means, lighting means and sensing meansthroughout the frame structure.

In accordance with a further aspect of the invention, the services maybe directed from the uprights to the individual bins, for example watermay be sprayed on to the bins from the uprights.

In accordance with yet another aspect of the invention, the uprights maycarry sensing means to detect fire, smoke, heat or gas within the framestructure.

In accordance with a further aspect of the invention, the uprights maycomprise power supply cabling or data communications cabling such asfibre optics.

In this way, depending on the services required within the storagesystem or provided in individual bins, aspects of the storage system maybe controlled or monitored for data relating to the contents of the binsto be relayed to a central processing system. Furthermore, services andconditions within the containers or bins may be controlled, for exampletemperature, moisture, lighting or other parameters via control ormonitoring means supplied via the uprights of the frame system. Controlfunctions may be provided either by a local control system in the bin orby a central system sending signals to actuators in the bins via theuprights. Data transmitted may provide information on the condition ofthe bins, the contents of the bins or may provide information on thecondition of the storage system in the vicinity of a given upright.Furthermore, in this way, the bins may be heated or cooled as requiredby the specific contents of the bin.

In this way, the present invention overcomes the problems of the priorart and provides a system and method of increasing the reliability andreducing the overall cost of large bin handling storage systems.

The invention will now be described with reference to the accompanyingdiagrammatic drawings in which:

FIG. 1 is a schematic perspective view of a frame structure for housinga plurality of stacks of bins in a storage system;

FIG. 2 is a schematic plan view of part of the frame structure of FIG.1;

FIGS. 3(a) and 3(b) are schematic perspective views, from the rear andfront respectively, of one form of robotic load handling device for usewith the frame structure of FIGS. 1 and 2, and FIG. 3(c) is a schematicperspective view of the known load handler device in use lifting a bin;

FIG. 4 is a schematic perspective view of a known storage systemcomprising a plurality of load handling devices of the type shown inFIGS. 3(a), 3(b) and 3(c), installed on the frame structure of FIGS. 1and 2, together with a robotic service device in accordance with oneform of the invention.

FIG. 5a is a schematic perspective view of the frame structure of FIG. 1in accordance with one aspect of the invention, the frame structurecomprising a grid system mounted on uprights;

FIG. 5b is an expanded schematic representation of the structure of FIG.5b showing connectors, cables, lighting means and pipework in accordancewith one form of the invention;

FIG. 6 is one alternative form of container 10′ compatible with theframework and grid structure of FIGS. 5a and 5b , the containercomprising a tray-like base and structural and load bearing edges buttransparent sides or in accordance with another aspect of the invention,no sides;

FIG. 7 is a schematic view of the frame structure of FIG. 5 inaccordance with one aspect of the invention showing the uprightscarrying services from the base of the storage system to the grid, anumber of the containers of FIG. 6 being located within the framework 14beneath the grid;

FIG. 8 is a schematic view of the frame structure of FIGS. 5a, 5b and 7in accordance with a further aspect of the invention, the containers ofyet another alternative configuration being located within theframework, the alternative configuration containers further comprisingconnecting means and other services routing via the containers;

FIG. 9 shows the alternative configuration container of FIG. 8 outwiththe framework structure, showing connecting means in additional detail,in addition to lighting means and fluid supply means within thecontainer;

FIG. 10 shows an expanded view of the framework structure of FIG. 8showing a connector positioned so as to co-operate with the connector ofthe container of FIG. 9; and

FIG. 11 shows an expanded schematic perspective diagram of the containerof FIG. 9 in situ within the framework of FIG. 10 showing the twocooperating surfaces of the connectors in contact.

In use, as shown in FIGS. 1 and 2, stackable containers, known as bins10, are stacked on top of one another to form stacks 12. The stacks 12are arranged in a frame structure 14 in a warehousing or manufacturingenvironment. FIG. 1 is a schematic perspective view of the framestructure 14, and FIG. 2 is a top-down view showing a single stack 12 ofbins 10 arranged within the frame structure 14. Each bin 10 typicallyholds a plurality of product items (not shown), and the product itemswithin a bin 10 may be identical, or may be of different product typesdepending on the application.

The frame structure 14 comprises a plurality of upright members 16 thatsupport substantially horizontal members 18, 20. A first set ofsubstantially parallel substantially horizontal members 18 is arrangedperpendicularly to a second set of substantially parallel substantiallyhorizontal members 20 to form a plurality of horizontal grid structuressupported by the upright members 16. The members 16, 18, 20 aretypically manufactured from metal. The bins 10 are stacked between themembers 16, 18, 20 of the frame structure 14, so that the framestructure 14 guards against horizontal movement of the stacks 12 of bins10, and guides vertical movement of the bins 10.

The top level of the frame structure 14 includes rails 22 arranged in agrid pattern across the top of the stacks 12. Referring additionally toFIGS. 3 and 4, the rails 22 support a plurality of robotic load handlingdevices 30. A first set 22 a of parallel rails 22 guide movement of theload handling devices 30 in a first direction (X) across the top of theframe structure 14, and a second set 22 b of parallel rails 22, arrangedperpendicular to the first set 22 a, guide movement of the load handlingdevices 30 in a second direction (Y), perpendicular to the firstdirection. In this way, the rails 22 allow movement of the load handlingdevices 30 in two dimensions in the X-Y plane, so that a load handlingdevice 30 can be moved into position above any of the stacks 12.

Each load handling device 30 comprises a vehicle 32 which is arranged totravel in the X and Y directions on the rails 22 of the frame structure14, above the stacks 12. A first set of wheels 34, consisting of a pairof wheels 34 on the front of the vehicle 32 and a pair of wheels 34 onthe back of the vehicle 32, are arranged to engage with two adjacentrails of the first set 22 a of rails 22. Similarly, a second set ofwheels 36, consisting of a pair of wheels 36 on each side of the vehicle32, are arranged to engage with two adjacent rails of the second set 22b of rails 22. Each set of wheels 34, 36 can be lifted and lowered, sothat either the first set of wheels 34 or the second set of wheels 36 isengaged with the respective set of rails 22 a, 22 b at any one time.

When the first set of wheels 34 is engaged with the first set of rails22 a and the second set of wheels 36 are lifted clear from the rails 22,the wheels 34 can be driven, by way of a drive mechanism (not shown)housed in the vehicle 32, to move the load handling device 30 in the Xdirection. To move the load handling device 30 in the Y direction, thefirst set of wheels 34 are lifted clear of the rails 22, and the secondset of wheels 36 are lowered into engagement with the second set ofrails 22 a. The drive mechanism can then be used to drive the second setof wheels 36 to achieve movement in the Y direction.

In this way, one or more robotic load handling devices 30 can movearound the top surface of the stacks 12 on the frame structure 14 underthe control of a central picking system (not shown). Each robotic loadhandling device 30 is provided with means for lifting out one or morebins or containers from the stack 12 to access the required products. Inthis way, multiple products can be accessed from multiple locations inthe grid and stacks at any one time.

It will be appreciated that if the required container 10 is not at thetop of the stack 12, if each load handling device can only carry asingle container 10 then multiple load handling devices will need toco-operate in order to access the target container 10.

FIG. 4 shows a typical storage system as described above, the systemhaving a plurality of load handling devices 30 active on the stacks 12in order to co-operate to retrieve and replace containers 10 from and tothe stacks 12. Unwanted containers 10 removed from stacks 12 in thepursuit of a target container 10 are placed back in to the stacks 12 atvacant positions.

FIGS. 1 and 4 show the bins 10 in stacks 12 within the storage system.It will be appreciated that there may be a large number of bins in anygiven storage system and that many different goods may be stored in thestacks, each bin may contain different goods within a single stack 12 orsimilar goods in similar stacks or multiple inventory items in anindividual container 10. Whilst the above described system was conceivedto store and retrieve groceries in an online shopping e-commercesolution, it will be appreciated that other uses are envisaged and thatother items such as parcels and letters may be stored in the containers10.

FIGS. 5a and 5b show the frame structure of the storage system withoutthe bins 10 in situ. The uprights 16 and the framework 14 compriseextruded metal beams having a contoured cross sections. The metal beamsare formed from aluminium alloys. However, it will be appreciated thatany other suitable material having the appropriate structuralcharacteristics for the intended use of the system may be used to formthe grid 14 and uprights 16. For example, the grid 14 and the uprights16 may be formed from steel, wood and various plastics for grid value,engineering.

As shown in FIG. 6, one alternative form of container 10′ compatiblewith the framework and grid structure of FIGS. 5a and 5b , comprises atray-like base and structural and load bearing edges, having buttransparent sides or in accordance with another aspect of the invention,no sides. In the situation where the uprights 16 of the framework 14carry, for example power to supply lighting means 60, the lighting meansbeing located or position on the framework 14, if the containers 10 wereformed from opaque materials, the light would not penetrate thestructure of the container. Advantageously, as long as any container iscapable of supporting the containers above in the stack then there is norequirement for the container to comprise full sides and a tray-likeconfiguration having a base 92 and edges 94 acting as structuralsupporting members for the containers above in the stack 12.

FIG. 7 shows the frame structure of FIGS. 5a and 5b , the uprights 16,routing services 17 within the contours of the beams, around the storagesystem. Such services may comprise power, sensor systems, system controlmeans or any other service that may be required within the framework ofthe storage system. As shown in FIG. 7, one specific example of aservice supplied around the storage system is the routing of fluidsupply means 19. The fluid supplied from the fluid supply means may be,for example, water in the manner of a sprinkler system to be deployed inthe event of a fire or to water crops located in the containers.Alternatively, the fluid supply 19 system may comprise gas such as CO₂,as used in greenhouse applications or N₂ used as a fire suppressant.

The fluid to be supplied round the framework 14 is routed upwardly fromthe base of the system via connectors 17. The connectors 17 beingadapted so as to be able to route carry or transmit multiple utilitiesor services such as communication means, signals, fluids, light or anyother service that may be required in the framework 14 of the system.

In use, the load handling devices 30 are operative on the grid portionof the framework structure 14. The load handling devices move laterallyabove the stacks 12 of containers 10. The uprights 16 of the frameworkstructure 14 are supporting the load handling devices above the stacks12.

Due to the automated nature of such densely packed and large storagesystems, visual inspection of the integrity and alignment of thestructure is impossible whilst the system is in use. In order to inspectthe structure visually the load handling devices would need to be shutdown and a physical inspection undertaken. The down time involved inthis operation would be extremely costly.

In a further aspect of the invention, the uprights 16 and indeed theunder surface of the substantially horizontal grid system may be used tocarry sensor means, the output of which may be logged by a data loggermounted on the structure or in a service providing bin 10 in thevicinity, or the information and data may be transmitted to a centraldata logging system via wireless communications or via other datatransfer means such as optical cabling, again routed via the frameworkstructure 14.

Such sensor means may comprise laser monitoring devices, laser beamsbeing transmitted on to a portion of the framework, the shape of thereflected beam being monitored for changes representative of structuralor alignment issues with the framework. It will be appreciated thatother structural monitoring means may be used such as sensors comprisingelectrical connections to the framework 14, for example potential droptechniques for monitoring crack growth within the framework structure.

Other sensor means that may be mounted on the framework structure mayinclude camera means such as, but not limited to, CCD cameras. Camerasmounted on the uprights 16 may be used to monitor the system whilst inuse, the images being transmitted either wirelessly or via suitablecommunications means, to a remote monitoring system.

It will be appreciated that any type and method of communication may beused, for example WiFi, Bluetooth, 3-wire serial, SigFox or otherproprietary systems such as that described in UK Patent Application No.GB1509793.4 to Ocado Innovation Limited, the contents of which in herebyincorporated by reference. It will be appreciated that any othersuitable communications means or protocol may be used.

It will be appreciated that cameras may be used in conjunction withother sensors to enable remote visual inspection of the storage systemshould one of the other sensor systems be triggered due to a fault inthe framework.

In this way, the structural condition of the framework 14 may bemonitored continuously whilst the storage system is in use.

In a second aspect of the invention, the uprights 16 and the grid 14 maybe used to carry services that may be required by other aspects of thesystem. For example, power may be transmitted along suitable cablesrouted on the framework structure. Depending on the use of the storagesystem, the containers 10 may require power. Individual containers 10may comprise heating means, cooling means, freezing means or lightingmeans 60. These services would require power that may be transmittedround the framework. It will be appreciated that due to the nature ofoperation of the system it is preferable that the containers 10 are notin fixed or releasable contact with the framework.

However, it will be appreciated that non contacting methods oftransmitting the required power to individual containers 10 may be used,for example magnetic induction or RF induction. In this way, power issupplied to the service means in individual containers 10 without theneed for the container to be in contact with the upright 16. Theuprights 16 are located adjacent the corners of the containers 10 andeach upright 16 has guiderails for the corners of the container. It willbe appreciated that there will be some tolerance between the guiderailsand the containers 10, for example approximately 5 mm in the case of agrid for storage and retrieval of inventory items in an orderfulfillment centre.

The robotic load handler 30 comprises a gripper, the gripper beinglarger than the container and ensuring that the container is alwaysguided squarely on top of the container located below in a stack 12. Inthis arrangement, it will be appreciated that it is possible to providecontact brushes between the containers 10 in a stack 12 and the griduprights 16. It will be appreciated that these contact brushes may belocated along the edge of each container 10. In an alternative form ofcontainer shown in FIGS. 9 and 10, contacts 150 a are provided on thecontainer 10 that co-operate with contacts 150 b on the framework 14 inorder to provide, for example, electrical connectivity betweencontainers 10 and the framework 14. It will be appreciated that theseconnections 150 a and 150 b may not be permanent as the container 10 mayneed to be removed from the framework structure 14. Accordinglyreleasably latching connections may be used or electrically conductiveconducting pads operating on a friction basis only may be used. It willbe appreciated that other forms of connector may be used suitable forfulfilling this function.

The stackable containers 10 may be provided with electrical connectionsbetween containers 10 in a stack 12 as shown in FIGS. 9 and 10. Thesemay comprise electrically conductive pads on co-operating surfaces ofadjacent bins. In this way power transmitted to a stack 12 via a singlenon-contacting point between the upright 16 and a container 10 may betransmitted throughout the stack 12. Furthermore, the containers 10 in astack may be provided with releasable latching mechanisms to physicallyand/or electrically connect adjacent containers 10 in a stack 12together. Such latching mechanisms may comprise magnetic orelectromagnetic latching means or any other suitable form of releasablelatching mechanism. (see FIGS. 9 and 10)

FIG. 11 shows an expanded version of FIGS. 9 and 10 with the container10 in situ within the framework 14 of the storage and retrieval system.The connectors 150 a and 150 b are in frictional contact sufficient toallow electrical connection therebetween. It will be appreciated thatthis is a simplified representation of a suitable form of connectingmeans and that a person skilled in the art may envisage otherconfigurations. Any configuration of connection capable of electricalcontact in such a situation may be used.

In a third aspect of the invention, the framework 14 carries physicalservices such as fluids around the system. As shown in FIG. 7, pipes 19may be routed around the framework carrying water or gas. The pipeworkmay be arranged to route fluids to individual containers 10.Alternatively, fluids may be releasable in to the atmosphere in thevicinity of the stacks 12. For example, certain containers 10 maycontain ignitable products such as matches. In the event that thematches ignite, sensors within the framework would detect the heat, fireor smoke, and a visual inspection via a camera may identify anindividual container 10. Water may be directed in to that individualcontainer 10. In this way, a fire may be contained within a singlecontainer 10 or a few containers.

In a conventional warehouse situation, sprinklers may be deployed fromthe roof of the warehouse. In a storage system as described herein, thismay cover a large area and could be above the level of the grid. Such asprinkler deployment could severely damage load handling devices as wellas causing damage across a large area of the system resulting in costlyshut down and replenishment of goods. Restricting the sprinklerdeployment to the area beneath the grid 22 and the load handling devicesmay prevent costly damage.

Other fire suppressant means utilise gases such as nitrogen to starveany fire of oxygen. In the event of a gas deployment, again this couldbe directed at individual containers 10 but may also be in the vicinityof a stack 12 or a number of stacks 12. It will be appreciated that alack of oxygen in the atmosphere in a given area of the system may causedanger should maintenance be required by personnel. Use of gas sensorswithin the framework 14 will establish if the environment is safe toinspect.

The uprights 16 and the underside of the grid 14 may be provided withconnectors for connection of the containers 10 or the stacks 12 ofcontainers 10 to the framework 14. For example, provision of power,data, signals and services on the framework requires connection to thecontainers via suitable connections, if the services are to be utilisedby the containers 10. Any suitable connection means may be used that canconnect to a container or to which containers 10 can releasably connect.For example telescopic umbilicals may be used that can extend to connectthe containers 10 to the grid.

The uprights 16 and the framework 14 may be provided with sensing meanscapable of identifying individual containers 10, stacks 12 of containersor objects contained within the containers 10. Sensing means maycomprise barcodes on the containers 10 and barcode readers on theuprights, alternatively camera means may be utilised. Any suitablemethod of labelling individual containers and reading said labels may beused to achieve the same objective.

In use, the identification and the location of given containers 10 bysensing means on the framework 14 enables the system to establish theidentity, and hence contents, of individual containers adjacent tosensors, connectors and service means. In this way individual containers10 may be controlled, monitored or treated by means provided on theframework 14 of the grid. For example said sensor and controlling meansmay control the temperature in individual containers 10; control thelevel of nutrients applied to the content of individual containers 10;communicate with the content of individual containers 10; and transmitdata via the content of individual containers 10.

It will be appreciated that due to the presence of the load handlingdevices 30 on the grid 22 that the services provided within theframework 14 via the uprights will need to be routed from the base ofthe storage system.

It will be appreciated that in all aspects of the invention, theservices provided on the framework 14 are not limited to thosespecifically described and that and service that may be routed via theuprights and the underside of the grid 22 may be installed.

Moreover, the embodiments described above and detailed in theaccompanying figures assume that the storage system comprises containers10 in stacks 12 disposed within a framework 14 in an unfettered manner.It will be appreciated that the system may be partitioned by suitablepartitioning means into smaller sub sections defined by, for exampletemperature. In this way it would be possible to have an ambientportion, a chilled portion and a frozen portion for example. It willalso be appreciated that the partitioning may have additionaladvantages, for example, partitioning enables sections of the storagesystem to be isolated from other sections. This may be necessary ifthere is a fire, for example, and fire suppressant means are used in agiven area to extinguish the fire. Furthermore, in the case where thesystem is used for alternative uses, there may be advantages in havingdifferent gaseous atmospheres in different portions of the system. Thismay be achieved by partitioning the system. It will be appreciated thatthe partitioning means may be temporary and remotely deployable, forexample roller shutters disposed under the grid.

UK Patent Application No GB1518117.5 (Ocado Innovation Limited) herebyincorporated by reference describes in detail many configurations ofpartitioning such a storage and retrieval system in order to protect aworkforce or mitigate an incident such as a fire, a spillage or asprinkler deployment, accidental or otherwise. This is achieved byeither permanently or temporarily partitioning sections of the frameworkstructure 14 such that incidents are contained in one part of the grid.Should temporary partitions be utilised in a smart grid and frameworksystem described above, such as an airbag type partition, these could bemounted on the grid and their deployment or activation initiated inresponse to signals generated by sensor means located on the framework14 and powered by services routed via the framework 14. The temporarypartitions themselves could be mounted on the framework system 14.

Many forms of containers 10 may be envisaged for use with a Smart Gridsystem described above and need not be limited to the configurationsdescribed above and shown in the accompanying Figures. UK PatentApplication No. GB1518091.2 (Ocado Innovation Limited) herebyincorporated by reference describes alternative forms of smart container10 that may be used in association with the framework described above.In common with the containers 10 and 10′ described in the presentapplication above, the configurations described therein compriseconnectors capable of connecting via physical or non-contacting meanswith cooperating connectors on surfaces of the containers 10 that willbe in contact when the containers 10 are in stacks 12 within theframework 14.

It will be appreciated that the services described above for routingthrough the framework may be routed via cables, pipes, wires, tubes orintegrated mouldings within the framework structure. However, suchcables, pipes, wires may be mounted on any of the surfaces of theframework 14 extrusions.

Many variations and modifications not explicitly described above arealso possible without departing from the scope of the invention asdefined in the appended claims.

The invention claimed is:
 1. A storage system comprising: a first set ofparallel rails or tracks and a second set of parallel rails or tracksextending transverse to the first set in a substantially horizontalplane to form a grid pattern having a plurality of grid spaces; a set ofuprights, the uprights and tracks together defining a framework; aplurality of storage containers arranged in stacks, located beneath therails and within the framework; at least one load handling devicedisposed on and above the rails or tracks, the at least one loadhandling device including a body mounted on wheels, a first set ofwheels arranged to engage with two rails of the first set of parallelrails, a second set of wheels arranged to engage with two rails of thesecond set of rails, the first set of wheels being independentlymoveable and driveable with respect to the second set of wheels suchthat when in motion only one set of wheels is engaged with the tracks orrails at any one time thereby enabling movement of the load handlingdevice along the rails to any point on the grid by driving only the setof wheels engaged with the tracks or rails, the at least one loadhandling device including a lifting device arranged to lift one or morecontainers, or parts thereof, from a stack; wherein the frameworkincludes a service means for providing services to the storage systemand the containers located therein enabling interaction, control andmonitoring of the system from within the framework.
 2. The storagesystem according to claim 1, wherein a portion of the frameworkcomprises: a power control means.
 3. The storage system according toclaim 1, wherein a portion of the framework comprises: a sensor meansand a data logging means for monitoring the output of the sensor means.4. The storage system according to claim 1, wherein the frameworkcomprises: a communication means for communicating with adjacentcontainers or with a central communications manager.
 5. The storagesystem according to claim 1, wherein some or all of the containerscomprise: a heating means for heating the contents of containers.
 6. Thestorage system according to claim 1, wherein some or all of thecontainers comprise: a cooling means for cooling the contents ofcontainers.
 7. The storage system according to claim 1, wherein some orall of the containers comprise: a reservoir, the reservoir acting as afluid sink in the container.
 8. The storage system according to claim 1,wherein some or all of the containers comprise: a lighting means.
 9. Thestorage system according to claim 8, wherein the lighting meanscomprises: a lid removeably attached to a respective container in thestack.
 10. The storage system according to claim 1, wherein anindividual container in the stack is provided with a unique identity,the identity being traceable and trackable by a sensor and a monitoringmeans.
 11. The storage system according to claim 1, wherein theframework comprises a connection means for connecting the framework tothe containers within the stacks, thereby enabling interaction betweenthe framework and the containers, and enabling services to be providedthereto.
 12. The storage system according to claim 1, wherein a portionof the framework comprises: a power supply means.
 13. The storage systemaccording to claim 12, wherein a portion of the framework comprises: apower control means.
 14. The storage system according to claim 13,wherein a portion of the framework comprises: the sensor means and thedata logging and storage means for monitoring the output of the sensormeans.
 15. The storage system according to claim 14, wherein theframework comprises: a communication means for communicating withadjacent containers or with a central communications manager.
 16. Thestorage system according to claim 15, wherein some or all of thecontainers comprise: a heating means for heating the contents ofcontainers.
 17. The storage system according to claim 16, wherein someor all of the containers comprise: a cooling means for cooling thecontents of containers.
 18. The storage system according to claim 17,wherein some or all of the containers comprise: a reservoir, thereservoir acting as a fluid sink in the container.
 19. The storagesystem according to claim 18, wherein some or all of the containerscomprise: a lighting means.
 20. The storage system according to claim19, in which an individual container in the stack is provided with aunique identity, the identity being traceable and trackable by a sensorand a monitoring means.
 21. A method of condition monitoring a storagesystem including a first set of parallel rails or tracks and a secondset of parallel rails or tracks extending transverse to the first set ina substantially horizontal plane to form a grid pattern having aplurality of grid spaces, a set of uprights, the uprights and trackstogether defining a framework, a plurality of storage containersarranged in stacks, located beneath the rails and within the framework,at least one load handling device disposed on and above the rails ortracks, the at least one load handling device including a body mountedon wheels, a first set of wheels arranged to engage with two rails ofthe first set of parallel rails, a second set of wheels arranged toengage with two rails of the second set of rails, the first set ofwheels being independently moveable and driveable with respect to thesecond set of wheels such that when in motion only one set of wheels isengaged with the tracks or rails at any one time thereby enablingmovement of the load handling device along the rails to any point on thegrid by driving only the set of wheels engaged with the tracks or rails,the at least one load handling device including a lifting devicearranged to lift one or more containers, or parts thereof, from a stack,the method comprising: a. providing a sensor means and a data loggingand storage means within the framework formed by first and secondparallel rails or tracks and a set of uprights; b. providing acommunication means to communicate data logged within the framework to acentral data logging device; and c. monitoring the data received.